AirPrint 5 GHz and 2.4G Hz Networks

I have a router with both a 2.4 GHz and 5 GHz carriers. I have two AirPrint-compatible printers from different makers. The printers only connect via the 2.4 GHz SSID - they do not have 5 GHz capability.

If I connect my Mac and iPhone to the 2.4 GHz SSID, I can see both printers via AirPrint.

I prefer to connect my Mac and iPhone via the 5 GHz SSID - I get better throughput and less interference on 5 GHz. However, I only see one of my printers available via AirPrint. The Epson printer, if on, always shows up. If it is off, I can see the HP printer. But, the Epson printer will mask the HP printer if they're both on.

Has anyone else run into this? Any ideas on how I can see both printers via AirPrint when I connect to the router via the 5 GHz SSID?